Implement Subscription loosely following the ROS2 API. #186
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aentinger
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…onflict that would otherwise arise from a similar named _request_subscription_map.
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pavel-kirienko
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Dec 29, 2022
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Instead replace them with smart pointers.
… per creation of a Subscription instance. See #186 (comment) .
pavel-kirienko
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Jan 2, 2023
…ference to a Node object and do the cleanup directly.
…ed as that it would pay off to declare it yourself fully, auto works just the same.
pavel-kirienko
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Jan 3, 2023
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Nice. I have other points that are probably out of the scope of this PR:
- It would be very useful (and occasionally critical) to be able to override the transfer-ID timeout value when creating a new subscription. I think this feature should be very easy to add here.
- Is there any reason you are using native types for time instead of the rich types from
std::chrono?
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Thank you for your review @pavel-kirienko ☕ 👋 I'll keep your inputs in mind to tackle when in the polish-phase of this redesign. |
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Note: Since the service server/client API has not been cleanly separated in the past with the API for message subscription this is leading to a couple of CI build errors now. Regardless fixing request/response API is out-of-scope for this PR and will be fixed in a sub-sequent one.